CN112247988A - Method for automatically charging mobile robot based on laser radar - Google Patents
Method for automatically charging mobile robot based on laser radar Download PDFInfo
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- CN112247988A CN112247988A CN202011052300.6A CN202011052300A CN112247988A CN 112247988 A CN112247988 A CN 112247988A CN 202011052300 A CN202011052300 A CN 202011052300A CN 112247988 A CN112247988 A CN 112247988A
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- mobile robot
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- charging pile
- butt joint
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method for autonomously charging a mobile robot based on a laser radar, which comprises the steps that firstly, when the electric quantity of a battery is detected to be low, the mobile robot reaches a charging pile identification position, a charging pile is identified through the laser radar, and an identification module obtains the characteristic point information of a beacon triangle of the charging pile by a least square method; secondly, the docking module subscribes the feature point information released by the identification module, and processes the feature point information to obtain a group of points with quaternions on the angular bisector of the beacon triangle plate as a navigation target point of the mobile robot; and finally, the mobile robot completes charging butt joint according to a target point, and if the charging butt joint cannot be correctly carried out for the first time, the mobile robot retreats for a certain distance to repeat the steps. The invention can realize accurate butt joint of the mobile robot and the autonomous charging pile, does not need to additionally arrange a complex butt joint guide circuit, has simple butt joint process, does not need excessive time adjustment, and has certain fault-tolerant capability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a method for automatically charging a mobile robot based on a laser radar.
Background
With the rise of intelligent manufacturing, the fully autonomous mobile robot is widely applied in the fields of industrial automation, logistics storage, building distribution and the like. Today, the trend of intellectualization, informatization and digitization is more prominent, and the trend of realizing the long-term autonomous operation of the mobile robot is the future trend. If the long-term autonomy of the mobile robot is to be realized, the problem of safe, efficient and stable autonomous charging of the mobile robot is urgently needed to be solved.
At present, a mobile robot adopts a rechargeable storage battery to supply power for the mobile robot, the operation time of the mobile robot is generally short due to the bottleneck of a battery technology, and the mobile robot needs to independently search for a charging pile and butt the charging pile to complete charging when the battery capacity of the mobile robot is low. The existing autonomous charging docking technology generally adopts an infrared sensor to realize the docking process, but the direction of the mobile robot needs to be adjusted for multiple times in the mode to realize docking, and infrared signals are easily interfered by the outside world, so that the mobile robot can judge the position of the charging pile by mistake.
In summary, autonomous charging becomes a key problem of realizing long-term autonomy of a mobile robot, however, the existing autonomous charging technology of the mobile robot has many disadvantages, such as low accuracy, poor anti-interference performance, weak fault-tolerant capability, and the like of the infrared-based autonomous charging method, and the key problem of autonomous charging of the mobile robot needs to be solved urgently.
Disclosure of Invention
The invention aims to provide an autonomous charging docking method based on a laser radar, which aims to solve the problems in the prior art and improve the accuracy, anti-interference performance and fault-tolerant capability of autonomous charging.
The technical solution for realizing the purpose of the invention is as follows: an autonomous robot charging method based on a laser radar comprises the following steps:
step one, the mobile robot reaches a charging pile identification point, a group of characteristic point information of the charging pile is obtained by scanning a charging pile beacon triangle through a laser radar, and the step two is carried out;
step two, the identification module subscribes a scan message sent by a laser radar to obtain point cloud information including characteristic points of a beacon triangular plate of the charging pile, a straight line is fitted through a least square method to obtain specific position information of the charging pile, the position information of the beacon triangular plate of the charging pile is released in a Topic form, and the step three is carried out;
step three, the automatic docking module subscribes position information of the charging pile, processes to obtain a group of coordinate points on an angular bisector of a beacon triangular plate of the charging pile, the group of coordinate points are based on a laser radar coordinate system and have Euler angles to represent directions, and the step four is carried out;
step four, converting coordinate points based on a laser radar coordinate system into a map coordinate system through TF, converting Euler angles into quaternions, and turning to step five;
step five, sending the coordinate points and the quaternion to move _ base _ simple/good, driving the mobile robot to the charging pile point by point along the angular bisector direction of the beacon triangular plate, finally completing butt joint, and turning to step six;
and step six, judging whether the mobile robot is in butt joint according to a trigger switch of the mobile robot, and returning to the step one until the butt joint is completed if the butt joint is not completed.
Compared with the prior art, the invention has the following remarkable advantages: (1) the invention does not need to additionally arrange a complex docking guide circuit, thereby simplifying the autonomous charging docking device; (2) the invention has the capability of resisting infrared interference (3) the invention does not need excessive charging butt joint adjusting process, and can realize rapid autonomous charging butt joint; (4) the invention has high docking accuracy and certain fault-tolerant capability.
Drawings
Fig. 1 is a flow chart of the autonomous charging docking method based on the laser radar of the present invention.
Detailed Description
The invention is discussed in further detail below with reference to figures and specific embodiments.
Firstly, when the low battery power is detected, the mobile robot searches a feasible path according to a path planning algorithm, finally reaches a charging pile identification position, the laser radar scans a charging pile beacon triangle, an identification program is started to identify the charging pile beacon triangle, the identification program obtains the characteristic point information of the charging pile beacon triangle by a least square method, and the characteristic point information is released in a Topic mode; secondly, the automatic docking module subscribes Topic sent by the identification program to acquire the characteristic point information of the beacon triangular plate of the charging pile, processes the position information of the beacon triangular plate and outputs a group of points with quaternions on an angular bisector of the beacon triangular plate as a navigation target point of the mobile robot; and finally, the mobile robot completes charging butt joint according to a target point, and if the charging butt joint cannot be correctly carried out for the first time, the mobile robot retreats for a certain distance to repeat the steps. The invention can realize accurate butt joint of the mobile robot and the autonomous charging pile, does not need to additionally arrange a complex butt joint guide circuit, has simple butt joint process, does not need excessive time adjustment, and has certain fault-tolerant capability. The method comprises the following specific steps:
step one, the mobile robot reaches a charging pile identification point, a group of characteristic point information of the charging pile is obtained by scanning a charging pile beacon triangle through a laser radar, and the step two is carried out;
step two, the identification module subscribes a scan message sent by a laser radar to obtain point cloud information including characteristic points of a beacon triangular plate of the charging pile, a straight line is fitted through a least square method to obtain specific position information of the charging pile, the position information of the beacon triangular plate of the charging pile is released in a Topic mode, and the step three is carried out;
further, the identification module fits a straight line through a least square method, and issues straight line information in a line _ segments node in a Topic form, wherein the message type is a custom line type, and the message type comprises a start point coordinate, an end point coordinate and a straight line angle of the straight line.
Step three, the automatic docking module subscribes position information of the charging pile, processes to obtain a group of coordinate points on an angular bisector of a beacon triangular plate of the charging pile, the group of coordinate points are based on a laser radar coordinate system and have Euler angles to represent directions, and the step four is carried out;
further, the automatic docking module subscribes messages issued by the line _ segments node, processes the messages to obtain two straight lines representing the beacon triangle, calculates an angular bisector of the beacon triangle, selects a group of points on the angular bisector, processes the straight lines to obtain point direction information, the direction information is expressed by an Euler angle, and processes the Euler angle to obtain a quaternion.
Step four, converting coordinate points based on a laser radar coordinate system into a map coordinate system through TF, converting Euler angles into quaternions, and turning to step five;
further, block by waitForTransForm method in tf.
Further, points in the radar coordinate system are converted into the map coordinate system by a transformPoint (target _ frame, point _ msg) method in the tf. The point _ msg is a point-staged type, the point-staged type includes two types of data, namely a header and a point, the header includes a timestamp and a name of a source coordinate system, and the point data is a position of a point in the source coordinate system.
Wherein the value of the quaternion is found by the following formula:
wherein
Is the angle of rotation of the object about the z-axis, theta is the angle of rotation of the object about the y-axis, and psi is the angle of rotation of the object about the z-axis.
Step five, sending the coordinate points and the quaternion to move _ base _ simple/good, driving the mobile robot to the charging pile point by point along the angular bisector direction of the beacon triangular plate, finally completing butt joint, and turning to step six;
and step six, judging whether the mobile robot is in butt joint according to a trigger switch of the mobile robot, and returning to the step one until the butt joint is completed if the butt joint is not completed.
Example 1
To verify the effectiveness of the present invention, a map is first created in a factory floor. The automatic charging pile is arranged in a factory, in order to simulate the automatic charging process, a signal that the electric quantity of the battery is low is given at a starting point, and the mobile robot starts an automatic charging process. The mobile robot firstly arrives at the charging pile identification position, accurately identifies the charging pile position and slowly performs butt joint, and finally accurately completes the butt joint. In order to test the anti-interference capability, an infrared signal is emitted near the mobile robot to interfere the butt joint process, and the mobile robot can still accurately complete the butt joint. In order to test the fault-tolerant capability of the docking process, the position of the charging pile is manually moved, and the mobile robot can accurately complete docking after repeating the charging process.
The invention can realize accurate butt joint of the mobile robot and the autonomous charging pile, is not interfered by infrared signals, does not need to additionally arrange a complex butt joint guide circuit, has simple butt joint process without excessive time adjustment, and has certain fault-tolerant capability.
Claims (7)
1. A method for automatically charging a robot based on a laser radar comprises the following steps:
step one, the mobile robot reaches a charging pile identification point, a group of characteristic point information of the charging pile is obtained by scanning a charging pile beacon triangle through a laser radar, and the step two is carried out;
step two, the identification module subscribes a scan message sent by a laser radar to obtain point cloud information including characteristic points of a beacon triangular plate of the charging pile, a straight line is fitted through a least square method to obtain specific position information of the charging pile, the position information of the beacon triangular plate of the charging pile is released in a Topic form, and the step three is carried out;
step three, the automatic docking module subscribes position information of the charging pile, processes to obtain a group of coordinate points on an angular bisector of a beacon triangular plate of the charging pile, the group of coordinate points are based on a laser radar coordinate system and have Euler angles to represent directions, and the step four is carried out;
step four, converting coordinate points based on a laser radar coordinate system into a map coordinate system through TF, converting Euler angles into quaternions, and turning to step five;
step five, sending the coordinate points and the quaternion to move _ base _ simple/good, driving the mobile robot to the charging pile point by point along the angular bisector direction of the beacon triangular plate, finally completing butt joint, and turning to step six;
and step six, judging whether the mobile robot is in butt joint according to a trigger switch of the mobile robot, and returning to the step one until the butt joint is completed if the butt joint is not completed.
2. The lidar-based method for autonomously charging a mobile robot according to claim 1, wherein: and in the second step, the identification program fits a straight line through a least square method, and the straight line information is issued in a line _ segments node in a Topic form, wherein the message type is a self-defined line type and comprises a start point coordinate, an end point coordinate and a straight line angle of the straight line.
3. The lidar-based method for autonomously charging a mobile robot according to claim 1, wherein: and in the third step, the automatic docking program subscribes the message issued by the line _ segments node, processes the message to obtain two straight lines representing the beacon triangle, calculates the angular bisector of the beacon triangle, selects a group of points on the angular bisector, processes the straight lines to obtain point direction information, the direction information is expressed by an Euler angle, and processes the Euler angle to obtain quaternion information.
4. The lidar-based method for autonomously charging a mobile robot according to claim 1, wherein: block by waitForTransForm method in tf. transformListener class until map frame and laser name are communicated in step four.
5. The lidar-based method for autonomously charging a mobile robot according to claim 1, wherein: in step four, the points in the radar coordinate system are converted into the map coordinate system by the transformPoint (target _ frame, point _ msg) method in the tf.
6. The lidar-based method for autonomously charging a mobile robot according to claim 5, wherein: in the fourth step, point _ msg is a point-staged type, the point-staged type includes two types of data, namely header and point, where the header includes a timestamp and a name of a source coordinate system, and the point data is a position of a point in the source coordinate system.
7. The lidar-based method for autonomously charging a mobile robot according to claim 1, wherein: in step four, the value of the quaternion is determined by the following formula:
in the coordinate system of the map, the map is divided into a plurality of regions,
is the angle of rotation of the object about the z-axis, theta is the angle of rotation of the object about the y-axis, and psi is the angle of rotation of the object about the z-axis.
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Cited By (3)
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| CN113219999A (en) * | 2021-07-08 | 2021-08-06 | 上海景吾智能科技有限公司 | Automatic robot recharge path planning method and system |
| CN113270921A (en) * | 2021-05-27 | 2021-08-17 | 山东建筑大学 | Automatic charging system and method for transformer substation inspection robot |
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Application publication date: 20210122 |